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/******************************************************************************
* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library is free software; you can redistribute it and/or modify it *
* under the terms of the GNU Lesser General Public License as published by *
* the Free Software Foundation; either version 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library is distributed in the hope that it will be useful, but WITHOUT *
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or *
* FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
* for more details. *
* *
* You should have received a copy of the GNU Lesser General Public License *
* along with this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Modules *
* *
* Authors: The SOFA Team and external contributors (see Authors.txt) *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#include <sofa/helper/system/config.h>
#include <sofa/component/collision/ContinuousIntersection.h>
#include <sofa/core/ObjectFactory.h>
#include <sofa/component/collision/ContinuousTriangleIntersection.h>
#include <sofa/core/componentmodel/collision/Intersection.inl>
#include <iostream>
#include <algorithm>
namespace sofa
{
namespace component
{
namespace collision
{
using namespace sofa::defaulttype;
using namespace collision;
SOFA_DECL_CLASS(ContinuousIntersection)
int ContinuousIntersectionClass = core::RegisterObject("TODO-ContinuousIntersectionClass")
.add< ContinuousIntersection >()
;
ContinuousIntersection::ContinuousIntersection()
{
intersectors.add<TriangleModel, TriangleModel, ContinuousIntersection>(this);
}
bool ContinuousIntersection::testIntersection(Triangle& t1, Triangle& t2)
{
ContinuousTriangleIntersection intersectionT(t1, t2);
return intersectionT.isCollision();
}
int ContinuousIntersection::computeIntersection(Triangle& t1, Triangle& t2, OutputVector* contacts)
{
ContinuousTriangleIntersection intersectionT(t1, t2);
//sout<<"Distance correction between Triangle - Triangle"<<sendl;
core::componentmodel::collision::DetectionOutput* c = intersectionT.computeDetectionOutput(); // new DetectionOutput();
if (c == NULL)
return 0;
else
{
contacts->push_back(*c);
delete c;
return 1;
}
}
} // namespace collision
} // namespace component
} // namespace sofa
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